#include "active_3d_planning_core/map/map.h"

namespace active_3d_planning {

    Map::Map(PlannerI &planner) : Module(planner) {}

    bool Map::isTraversablePath(const EigenTrajectoryPointVector &trajectory) {
        // default just checks every point
        for (const EigenTrajectoryPoint &point : trajectory) {
            if (!isTraversable(point.position_W, point.orientation_W_B)) {
                return false;
            }
        }
        return true;
    }

} // namespace active_3d_planning